Road Runner 1.0 Install and Drive Class

Set up the drive class without old 0.5 assumptions.

Module 12: Road Runner 1.0 Setup and TuningRoad Runner

In this lesson, you will:

01Use current 1.0 docs.
02Configure drive hardware.
03Keep mechanism code separate.

Concept narrative

Road Runner 1.0 centers autonomous around drive classes and actions. The first goal is not a full auto; it is a correctly configured drive class that can estimate pose and run a tiny action.

Robot mental model

The drive class is infrastructure. It owns drivetrain motors, localizer, pose estimate, and path-following behavior. Mechanisms should be separate actions or subsystems.

Implementation walkthrough

Open the correct drive class, match motor names, set IMU orientation, choose localizer, and run the direction debugger before any path test.

RRStart.javaJava

MecanumDrive drive = new MecanumDrive(hardwareMap, new Pose2d(0, 0, 0));
Action test = drive.actionBuilder(new Pose2d(0, 0, 0)).lineToX(12).build();
Actions.runBlocking(test);

Common mistakes and debugging

If a short action fails, inspect hardware names, motor directions, encoder signs, and start pose. Do not debug a full spline before basic setup works.

Checkpoint

Drive class matches config.
Start pose is explicit.
First motion is small.
The test record includes the setup, prediction, and observed result.
A teammate can repeat the check from the saved evidence without guessing.

Reflection check

Check your understanding before moving on.

Which result best demonstrates completion of “Road Runner 1.0 Install and Drive Class”?

Why record the test setup, prediction, and observed result?

0 of 2 answered

References

Road Runner 1.0 ActionsAction composition, custom actions, and autonomous structure.Road Runner 1.0 TuningDrive class setup, tuning op modes, feedforward, feedback, and validation.Road Runner 1.0 Builder ReferenceTrajectory/action builder method reference.